A rack and pinion transmission is provided with a unique enveloping worm, spiral bevel or hypoid pinion in the engagement with a rack. These pinions have tapered shape which is modified by reposition of drive or/and coast face of said thread from original position. The new rack and pinion transmission is more efficient, quite and compact than conventional systems with worm or helical gear pinions. The rack and pinion transmission of the present invention is easily manufactured.